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JRM Vol.29 No.1 pp. 188-197
doi: 10.20965/jrm.2017.p0188
(2017)

Paper:

Outdoor Acoustic Event Identification with DNN Using a Quadrotor-Embedded Microphone Array

Osamu Sugiyama*1, Satoshi Uemura*2, Akihide Nagamine*3, Ryosuke Kojima*2, Keisuke Nakamura*4, and Kazuhiro Nakadai*2,*4

*1Preemptive Medicine & Lifestyle-Related Disease Research Center, Kyoto University Hospital
54 Kawaharacho, Syogoin, Sakyo-ku, Kyoto City 606-8507, Japan

*2Graduate School of Information Science and Engineering, Tokyo Institute of Technology
2-12-1 Ookayama, Meguro-ku, Tokyo 152-8552, Japan

*3Department of Electrical and Electronic Engineering, School of Engineering, Tokyo Institute of Technology
2-12-1 Ookayama, Meguro-ku, Tokyo 152-8552, Japan

*4Honda Research Institute Japan Co., Ltd.
8-1 Honcho, Wako, Saitama 351-0188, Japan

Received:
July 25, 2016
Accepted:
December 27, 2016
Published:
February 20, 2017
Keywords:
robot audition, sound source localization, sound source separation, sound source identification, unmanned aerial vehicle
Abstract

Outdoor Acoustic Event Identification with DNN Using a Quadrotor-Embedded Microphone Array

Software architecture for OCASA with proposed AEI

This paper addresses Acoustic Event Identification (AEI) of acoustic signals observed with a microphone array embedded in a quadrotor that is flying in a noisy outdoor environment. In such an environment, noise generated by rotors, wind, and other sound sources is a big problem. To solve this, we propose the use of a combination of two approaches that have recently been introduced: Sound Source Separation (SSS) and Sound Source Identification (SSI). SSS improves the Signal-to-Noise Ratio (SNR) of the input sound, and SSI is then performed on the SNR-improved sound. Two SSS methods are investigated. One is a single channel algorithm, Robust Principal Component Analysis (RPCA), and the other is Geometric High-order Decorrelation-based Source Separation (GHDSS-AS), known as a multichannel method. For SSI, we investigate two types of deep neural networks namely Stacked denoising Autoencoder (SdA) and Convolutional Neural Network (CNN), which have been extensively studied as highly-performant approaches in the fields of automatic speech recognition and visual object recognition. Preliminary experiments have showed the effectiveness of the proposed approaches, a combination of GHDSS-AS and CNN in particular. This combination correctly identified over 80% of sounds in an 8-class sound classification recorded by a hovering quadrotor. In addition, the CNN identifier that was implemented could be handled even with a low-end CPU by measuring the prediction time.

Cite this article as:
O. Sugiyama, S. Uemura, A. Nagamine, R. Kojima, K. Nakamura, and K. Nakadai, “Outdoor Acoustic Event Identification with DNN Using a Quadrotor-Embedded Microphone Array,” J. Robot. Mechatron., Vol.29, No.1, pp. 188-197, 2017.
Data files:
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Last updated on Nov. 16, 2018